To train and evaluate our models we use two recently published large-scale datasets: MulRan [1]} and Oxford Radar RobotCar [2]}.
MuRan dataset is gathered using a vehicle equipped with Ouster OS1-64 3D LiDAR with 120 m. range and Navtech CIR204-H FMCW scanning radar with 200 operating range.
Radar RobotCar data is acquired using Velodyne HDL-32E LiDAR with 100 m. range and Navtech CTS350-X scanning radar with 160 m. operating range.
